Key design features to improve the safety of surgical robotic systems and evaluation and improvement of a surgical-assistant test-bed robotic system

Abstract

The signi cance of the robots in the medical eld have been increasing rapidly. Humans and robots working together increases the strengths and decreases the limitations of surgical operations. Human life makes safety the most important problem for medical robots, for which there are no universal standards. This thesis presents detailed design methods for increasing medical robots' safety by considering issues of sterilization, robot's size, operating room placement of the robot, the robot mechanics, selection of the electromechanical components, drive mechanism, sti ness, sensor redundancy, software application, and hazard identi cation and analysis. The proposed safety design concepts were applied a surgery robot named MISA (Minimally Invasive Surgery Assistant) and the outcomes are discussed. This thesis presents the architecture of a surgical robotic system designed to assist minimally invasive surgeries. The design, mechanism, electronic components, kinematics and control of an example robot MISA are discussed. The system includes a 5 DoF robotic arm and surgical scissor as an end e ector. As far as all the information about required safety concepts is concerned, this thesis can be considered as a guideline to design more safe surgical and medical robotic systems.

Medikal alanlarda kullan lan robotlar n onemi g un ge ctik ce artmaktad r. Insanlar n ve robotlar n beraber cal smas yla cerrahi operasyonlar n yap labilirli gi artarken kar s la s lan limitler de azalmaktad r. Insan hayat g uvenlik konusunu en onemli sorun haline getirmesine ra gmen sa gl k robotlar hakk nda evrensel bir standart bulunmamaktad r. Bu tez, sterilizasyon, robot boyutlar , robotun ameliyathanedeki yerle sim sekli, robot mekani gi, robotun elektromekanik aksamlar n n se cimi, robotun cal st rma mekanizmas , robotun kat l g ,sens or art kl g , yaz l m uygulamalar , risk tan mlama ve risk analizi konular n ele alarak medikal robotlar n gvenli gini art rmak i cin detayl tasar m y ontemlerini g ostermektedir. onerilen g uvenli robot tasar m konseptleri MISA(ENG: Minimally Invasive Surgery Assistant - TR: Laparoskopik Cerrahi Asistan ) Robotu'na uygulanm st r ve bu uygulaman n sonu clar tart s lm st r. Bu tez laparoskopik cerrahiye yard mc olacak bir ameliyat robotunun tasar m n anlatmaktad r. Ayr ca, ornek model robot MISA'n n tasar m , mekanizmas , elektonik aksamlar , kinemati gi ve denetimi incelenmektedir. Bu robotik sistem, 5 serbeslik dereceli robot kolu ve cerrahi makas i cermektedir. Gerekli g uvenlik konseptleriyle ilgili bilgiler g oz on une al nd g nda bu tezin daha g uvenli ameliyat ve sa gl k robotu tasar m i cin bir yol g osterici oldu gu s oylenebilir.